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/* Author: Peter David Fagan */

#pragma once

#include <geometry_msgs/msg/pose_stamped.hpp>
#include <moveit_msgs/msg/collision_object.hpp>
#include <moveit_msgs/msg/constraints.hpp>
#include <pybind11/pybind11.h>

namespace py = pybind11;

namespace moveit_py
{
namespace moveit_py_utils
{
geometry_msgs::msg::PoseStamped poseStampedToCpp(const py::object& pose_stamped);

// TODO(peterdavidfagan): consider creating typecaster
geometry_msgs::msg::Pose poseToCpp(const py::object& pose);
py::object poseToPy(geometry_msgs::msg::Pose pose);

geometry_msgs::msg::Point pointToCpp(const py::object& point);

geometry_msgs::msg::Vector3 vector3ToCpp(const py::object& vector3);

geometry_msgs::msg::Quaternion quaternionToCpp(const py::object& quaternion);

shape_msgs::msg::SolidPrimitive solidPrimitiveToCpp(const py::object& primitive);

shape_msgs::msg::MeshTriangle meshTriangleToCpp(const py::object& mesh_triangle);

shape_msgs::msg::Mesh meshToCpp(const py::object& mesh);

moveit_msgs::msg::BoundingVolume boundingVolumeToCpp(const py::object& bounding_volume);

moveit_msgs::msg::JointConstraint jointConstraintToCpp(const py::object& joint_constraint);

moveit_msgs::msg::PositionConstraint positionConstraintToCpp(const py::object& position_constraint);

moveit_msgs::msg::OrientationConstraint orientationConstraintToCpp(const py::object& orientation_constraint);

moveit_msgs::msg::VisibilityConstraint visibilityConstraintToCpp(const py::object& visibility_constraint);

moveit_msgs::msg::CollisionObject collisionObjectToCpp(const py::object& collision_object);

moveit_msgs::msg::Constraints constraintsToCpp(const py::object& constraints);
}  // namespace moveit_py_utils
}  // namespace moveit_py
